version: 66.10
glider: 169
mission: 6
dive: 194
start: 5 30 112 20 52 57
data:
$ID,169
$MISSION,6
$DIVE,194
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15704.271
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,300512,204437,2155.083,12329.231,40,1.0,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.3
$GPS2,300512,205231,2155.025,12329.472,14,1.4,14,-2.9
$SPEED_LIMITS,0.136,0.271
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,267.1,245991,-12.5,-7.857
$D_GRID,4712
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.55,-194.6,0.0,0.0,0,83,0.00,0.00,-62.90,0.000,2,0.000,0.000,116,2556,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.55,-194.6,3.2,-6.5,11,119,7.80,1.88,-17.23,0.000,4,0.221,0.042,2080,3841,3774,0,0,0,0,0,0,25.27,26.06,26.44
$GC,209,-0.49,-194.6,42.2,-25.2,33,216,0.12,2.00,0.00,0.000,6,0.155,0.020,2118,2464,3775,0,0,0,0,0,0,25.85,26.17,28.83
$GC,401,-0.39,-194.6,99.6,-31.2,70,409,0.00,2.30,0.00,0.000,4,0.000,0.025,2124,1039,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,482,-0.37,-194.6,117.0,-15.4,85,489,0.15,2.47,0.00,0.000,6,0.123,0.034,2158,2513,3775,0,0,0,0,0,0,26.01,26.19,28.83
$GC,673,-0.32,-194.6,149.3,-17.6,122,681,0.00,1.95,0.00,0.000,4,0.000,0.039,2148,3832,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,714,-0.29,-194.6,156.3,-16.5,129,721,0.10,2.00,0.00,0.000,6,0.139,0.018,2177,2430,3775,0,0,0,0,0,0,26.17,26.41,28.83
$GC,906,-0.28,-194.6,176.7,-10.2,166,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2429,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.29,-194.6,195.5,-8.9,203,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2429,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.30,-194.6,210.4,-6.8,227,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2429,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-0.32,-194.6,228.8,-5.9,257,1604,0.00,2.17,0.00,0.000,4,0.000,0.039,2167,3830,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1620,-0.35,-194.6,230.3,-6.2,259,1627,0.00,1.98,0.00,0.000,6,0.000,0.018,2168,2423,3775,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1928,-0.43,-194.6,254.1,-8.2,290,1932,0.00,2.17,0.00,0.000,4,0.000,0.022,2178,1024,3775,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1970,-0.50,-194.6,257.7,-8.6,294,1980,0.15,2.40,0.00,0.000,6,0.039,0.027,2092,2509,3775,0,0,0,0,0,0,26.39,26.43,28.83
$GC,2280,-0.51,-194.6,284.1,-8.4,325,2289,0.00,2.38,0.00,0.000,4,0.000,0.024,2091,1013,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2295,-0.53,-194.6,284.8,-8.4,326,2301,0.00,2.58,0.00,0.000,6,0.000,0.031,2085,2561,3775,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2603,-0.50,-194.6,327.3,-14.3,357,2611,0.00,2.47,0.00,0.000,4,0.000,0.024,2092,1043,3774,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2695,-0.50,-194.6,337.4,-9.2,366,2703,0.00,2.47,0.00,0.000,6,0.000,0.032,2085,2537,3774,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3005,-0.47,-194.6,374.6,-12.5,397,3014,0.12,2.40,0.00,0.000,4,0.149,0.023,2134,1047,3773,0,0,0,0,0,0,26.34,26.43,28.83
$GC,3050,-0.48,-194.6,378.4,-9.4,401,3057,0.00,2.47,0.00,0.000,6,0.000,0.033,2131,2531,3773,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3358,-0.55,-194.6,402.1,-8.9,432,3367,0.10,1.90,0.00,0.000,4,0.122,0.039,2090,3821,3769,0,0,0,0,0,0,26.55,26.34,28.83
$GC,3373,-0.62,-194.6,402.8,-8.7,433,3380,0.00,1.85,0.00,0.000,6,0.000,0.018,2092,2472,3769,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3682,-0.67,-194.6,425.9,-7.8,464,3691,0.00,2.08,0.00,0.000,4,0.000,0.039,2091,3823,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3827,-0.75,-194.6,437.5,-8.2,478,3837,0.17,2.05,-0.10,0.000,6,0.082,0.019,2017,2404,3787,0,0,0,0,0,0,26.36,26.53,25.83
$GC,4139,-0.68,-194.6,494.0,-21.2,509,4148,0.12,2.15,0.00,0.000,4,0.151,0.024,2067,1041,3786,0,0,0,0,0,0,26.32,26.42,28.83
$GC,4213,-0.67,-194.6,504.0,-10.6,516,4221,0.00,2.33,0.00,0.000,6,0.000,0.032,2055,2465,3786,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4521,-0.63,-194.6,542.9,-12.7,547,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2464,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-0.60,-194.6,582.4,-13.3,577,4835,0.00,2.30,0.00,0.000,4,0.000,0.028,2056,1046,3781,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4881,-0.58,-194.6,589.3,-11.9,582,4888,0.15,2.33,0.00,0.000,6,0.113,0.034,2096,2453,3780,0,0,0,0,0,0,26.17,26.32,28.83
$GC,5199,-0.58,-194.6,617.4,-8.2,604,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2452,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.58,-194.6,641.1,-7.8,619,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2452,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5798,-0.58,-194.6,663.8,-7.6,634,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2452,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6099,-0.58,-194.6,687.4,-7.9,649,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2452,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6399,-0.58,-194.6,710.9,-7.4,664,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2452,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,-0.58,-194.6,731.7,-6.7,679,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2452,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6998,-0.58,-194.6,750.6,-6.6,694,7003,0.00,2.30,0.00,0.000,4,0.000,0.028,2097,1039,3762,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7032,-0.59,-194.6,751.8,-6.7,695,7039,0.00,2.35,0.00,0.000,6,0.000,0.036,2092,2452,3762,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7338,-0.59,-194.6,774.3,-7.4,711,7344,0.00,2.12,0.00,0.000,4,0.000,0.047,2082,3818,3760,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7379,-0.59,-194.6,777.3,-7.5,713,7384,0.00,2.10,0.00,0.000,6,0.000,0.021,2082,2395,3759,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7699,-0.59,-194.6,804.4,-8.5,729,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2395,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,-0.59,-194.6,828.0,-7.5,744,8003,0.00,2.30,0.00,0.000,4,0.000,0.047,2073,3824,3756,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8027,-0.59,-194.6,829.4,-7.4,745,8030,0.00,2.10,0.00,0.000,6,0.000,0.023,2073,2407,3756,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8334,-0.58,-194.6,852.1,-6.7,760,8339,0.00,2.15,0.00,0.000,4,0.000,0.028,2073,1051,3755,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8366,-0.58,-194.6,853.5,-6.6,761,8373,0.00,2.33,0.00,0.000,6,0.000,0.036,2063,2456,3754,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8674,-0.56,-194.6,879.0,-8.4,777,8678,0.00,2.12,0.00,0.000,4,0.000,0.046,2053,3820,3753,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8709,-0.55,-194.6,881.1,-8.5,778,8717,0.15,2.10,0.00,0.000,6,0.113,0.023,2102,2401,3753,0,0,0,0,0,0,26.09,26.39,28.83
$GC,9017,-0.56,-194.6,901.8,-6.3,794,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2400,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9318,-0.58,-194.6,921.0,-6.3,809,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2401,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9617,-0.59,-194.6,939.0,-5.9,824,9622,0.00,2.33,0.00,0.000,4,0.000,0.048,2097,3815,3748,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9638,-0.61,-194.6,940.1,-5.8,825,9644,0.00,2.08,0.00,0.000,6,0.000,0.022,2098,2408,3748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9958,-0.63,-194.6,959.2,-6.1,841,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2407,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10258,-0.64,-194.6,977.1,-6.1,856,10264,0.00,2.30,0.00,0.000,4,0.000,0.047,2091,3813,3746,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10280,-0.66,-194.6,978.2,-6.1,857,10284,0.00,2.08,0.00,0.000,6,0.000,0.021,2091,2404,3745,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,10469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10469,begin apogee
$GC,10475,-0.20,0.0,990.4,-6.2,867,10672,0.32,0.08,189.38,1.175,4,0.083,0.089,2211,2490,2972,0,0,0,0,0,0,26.09,24.61,23.67
$STATE,10673,end apogee,CONTROL_FINISHED_OK
$STATE,10673,begin climb
$GC,10676,0.55,194.6,998.7,0.0,877,10886,0.62,0.12,203.93,1.153,6,0.030,0.078,2476,2553,2184,0,0,0,0,0,0,24.86,24.82,23.21
$GC,11189,0.47,194.6,904.9,22.5,902,11195,0.15,1.92,0.00,0.000,4,0.184,0.041,2433,3816,2144,0,0,0,0,0,0,25.47,25.74,28.83
$GC,11303,0.40,194.6,883.8,20.5,907,11311,0.15,1.95,0.00,0.000,6,0.178,0.022,2405,2502,2141,0,0,0,0,0,0,25.56,25.96,28.83
$GC,11609,0.36,194.6,836.1,14.3,923,11614,0.00,2.08,0.00,0.000,4,0.000,0.042,2405,3819,2140,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11642,0.32,194.6,833.0,14.5,924,11649,0.12,1.90,0.00,0.000,6,0.168,0.022,2382,2513,2140,0,0,0,0,0,0,25.78,26.13,28.83
$GC,11948,0.30,194.6,791.3,12.7,940,11952,0.00,2.08,0.00,0.000,4,0.000,0.043,2382,3830,2139,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11993,0.27,194.6,785.5,13.3,942,11998,0.00,1.90,0.00,0.000,6,0.000,0.022,2392,2526,2138,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12313,0.24,194.6,742.8,13.0,958,12319,0.12,2.42,0.00,0.000,4,0.166,0.030,2365,1075,2137,0,0,0,0,0,0,26.01,26.13,28.83
$GC,12334,0.22,194.6,740.3,12.7,959,12339,0.00,2.55,0.00,0.000,6,0.000,0.034,2365,2561,2136,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12648,0.21,194.6,710.6,9.0,975,12654,0.00,2.50,0.00,0.000,4,0.000,0.032,2377,1081,2136,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12680,0.21,194.6,708.9,8.9,976,12687,0.12,2.53,0.00,0.000,6,0.124,0.035,2339,2555,2136,0,0,0,0,0,0,25.97,26.12,28.83
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$STATE,19003,end climb,SURFACE_DEPTH_REACHED
$STATE,19003,begin surface coast
$FINISH,-0.1,1.021091
$STATE,19015,end surface coast,CONTROL_FINISHED_OK
$STATE,19015,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.21
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.1,23.863
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330456
$DATA_FILE_SIZE,106790,1677
$CAP_FILE_SIZE,218644,0
$CFSIZE,260165632,201240576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0,0
$CURRENT,0.221, 65.2,1
$GPS,310512,021206,2155.526,12328.229,29,1.2,29,-2.9